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End-Effector Precise Hand-Guiding for Collaborative Robots

Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 694)


Hand-guiding is a main functionality of collaborative robots, allowing to rapidly and intuitively interact and program a robot. Many applications require end-effector precision positioning during the teaching process. This paper presents a novel method for precision hand-guiding at the end-effector level. From the end-effector force/torque measurements the hand-guiding force/torque (HGFT) is achieved by compensating for the tools weight/inertia. Inspired by the motion properties of a passive mechanical system, mass subjected to coulomb/viscous friction, it was implemented a control scheme to govern the linear/angular motion of the decoupled end-effector. Experimental tests were conducted in a KUKA iiwa robot in an assembly operation.


  • Hand-guiding
  • Collaborative robot
  • End-effector

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This research was partially supported by Portugal 2020 project DM4Manufacturing POCI-01-0145-FEDER-016418 by UE/FEDER through the program COMPETE 2020, the European Unions Horizon 2020 research and innovation programme under grant agreement No 688807 - ColRobot project, and the Portuguese Foundation for Science and Technology (FCT) SFRH/BD/131091/2017.

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Correspondence to Pedro Neto .

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Safeea, M., Bearee, R., Neto, P. (2018). End-Effector Precise Hand-Guiding for Collaborative Robots. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 694. Springer, Cham.

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  • Print ISBN: 978-3-319-70835-5

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